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Improvements related to models where joint-actuator relationship is not one-to-one:

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- Add `joint-actuatorforcerange` for clamping total actuator force at joints. Add `sensor-jointactuatorfrc` for sensing total actuator forces on a single joint.
See [documentation](https://mujoco.readthedocs.io/en/latest//modeling.html#actuator-force-clamping) for justification and use cases.
- Add simple car model to `model/`.
- Move actuation-related test models into `engine/testdata/actuation/`.

PiperOrigin-RevId: 549355941
Change-Id: I27f6c1f80426d73a2811ef5ae74684a228b2fbd1
This commit is contained in:
Yuval Tassa
2023-07-19 10:28:24 -07:00
committed by Copybara-Service
parent 7603b07a20
commit 51aa375af0
29 changed files with 453 additions and 105 deletions
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src/xml/xml_native_writer.cc
+11
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@@ -225,6 +225,12 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
if (writingdefaults || !limited_inferred) {
WriteAttrKey(elem, "limited", TFAuto_map, 3, pjoint->limited, def->joint.limited);
}
bool afrange_defined = pjoint->actfrcrange[0]!=0 || pjoint->actfrcrange[1]!=0;
bool aflimited_inferred = def->joint.actfrclimited==2 && pjoint->actfrclimited==afrange_defined;
if (writingdefaults || !aflimited_inferred) {
WriteAttrKey(elem, "actutorforcelimited", TFAuto_map, 3,
pjoint->actfrclimited, def->joint.actfrclimited);
}
// defaults and regular
if (pjoint->type != def->joint.type) {
@@ -239,6 +245,7 @@ void mjXWriter::OneJoint(XMLElement* elem, mjCJoint* pjoint, mjCDef* def) {
WriteAttr(elem, "solimpfriction", mjNIMP, pjoint->solimp_friction, def->joint.solimp_friction);
WriteAttr(elem, "stiffness", 1, &pjoint->stiffness, &def->joint.stiffness);
WriteAttr(elem, "range", 2, pjoint->range, def->joint.range);
WriteAttr(elem, "actuatorforcerange", 2, pjoint->actfrcrange, def->joint.actfrcrange);
WriteAttr(elem, "margin", 1, &pjoint->margin, &def->joint.margin);
WriteAttr(elem, "armature", 1, &pjoint->armature, &def->joint.armature);
WriteAttr(elem, "damping", 1, &pjoint->damping, &def->joint.damping);
@@ -1645,6 +1652,10 @@ void mjXWriter::Sensor(XMLElement* root) {
elem = InsertEnd(section, "actuatorfrc");
WriteAttrTxt(elem, "actuator", psen->objname);
break;
case mjSENS_JOINTACTFRC:
elem = InsertEnd(section, "jointactuatorfrc");
WriteAttrTxt(elem, "joint", psen->objname);
break;
// sensors related to ball joints
case mjSENS_BALLQUAT: